Communication Problems

awhile ago i accidently hit the erase button and had to follow the procedure in getting the firmware back. I do believe now that i have it back installed because pronterface says that the printer is online when i hit connect but whenever i try and give the D300VS a command, it keeps giving me error messages like this:

Connecting…
Printer is now online.
Attempt to move the head of a delta printer before homing the towers
[ERROR] Traceback (most recent call last):
File "printrun\printcore.pyc", line 241, in _readline
File "printrun\pronterface.pyc", line 1713, in recvcb
File "printrun\pronterface.pyc", line 1669, in update_pos
ValueError: could not convert string to float:

I keep getting the message from my printer saying this whenever i try and send a Gcode :

G28
SENDING:G28
Attempt to move the head of a delta printer before homing the towers

or… when I hit the interface buttons in pronterface
[ERROR] Traceback (most recent call last):
File "printrun\printcore.pyc", line 241, in _readline
File "printrun\pronterface.pyc", line 1713, in recvcb
File "printrun\pronterface.pyc", line 1669, in update_pos
ValueError: could not convert string to float:

I'm still getting those same messages above from the printer whenever i tell it a command. everything on the SD is right and in place because i had it moving before I accidentally hit erase.
Would anyone know what exactly is causing the printer to send those errors or what the errors mean?
Any help would be appreciated!

G28
SENDING:G28
Attempt to move the head of a delta printer before homing the towers

suggests that either something is seriously wrong with your homedelta.g file, or that the motors are not responding to movement commands - perhaps because the motor currents are not set. Try sending these commands:

G91
G1 S2 X10

and see whether it causes the X carriage to move up 10mm. If the X carriage doesn't move, run M906 to see what motor currents are set.

; Homing file for RepRapFirmware on Mini Kossel
G91 ; use relative positioning
;******* Change F250 in the following line to F2500 when you are finished commissioning
;******* Change 320 in the following to a higher value if your Kossel has taller towers
G1 S1 X320 Y320 Z320 F2500 ; move all carriages up 320mm, stopping at the endstops
G1 S2 X-3 Y-3 Z-3 ; move all carriages down 3mm
G1 S1 X6 Y6 Z6 F250 ; move carriages slowly up 6mm, stopping at the endstops
G1 Z-5 F2000 ; down a few mm so that we can centre the head
G90 ; back to absolute positioning
G1 X0 Y0 F2000 ; centre the head and set a reasonable feed rate

; Communication and general
M111 S0 ; Debug off
M550 PMiniKosselWiFiTest ; Machine name and Netbios name (can be anything you like)
M551 Preprap ; Machine password (used for FTP)
;*** If you have more than one Duet on your network, they must all have different MAC addresses, so change the last digits
M540 P0xBE:0xEF:0xDE:0xAD:0xFE:0xED ; MAC Address
;*** Wifi Networking
; M552 S1 ; Enable WiFi

; Z probe and compensation definition
;*** If you have a switch instead of an IR probe, change P1 to P4 in the following M558 command
M558 P1 X0 Y0 Z0 ; Z probe is an IR probe and is not used for homing any axes
G31 X0 Y0 Z4.80 P500 ; Set the zprobe height and threshold (put your own values here)

;*** If you are using axis compensation, put the figures in the following command
M556 S78 X0 Y0 Z0 ; Axis compensation here

I didn't spot any obvious problems with those files. So something is stopping the motors moving. Please run M122 and see what supply voltage it reports, If the supply voltage doesn't reach 10.0V initially, or subsequently falls below 9.5V, then the motors won't run.

I tested my power cord that plugged into a regular wall socket at 110V and the multimeter read 113V. I then plugged the cord into the power supply for the printer and tested the wires that hook up to the board and they read about 21V.
Does that seem like a normal reading?